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<div class="title">warp_point_rigid.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_WARP_POINT_RIGID_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_WARP_POINT_RIGID_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>SourceT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>TargetT, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html">   57</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; Matrix4;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; VectorX;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; Vector4;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;WarpPointRigid&lt;PointSourceT, PointTargetT, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const WarpPointRigid&lt;PointSourceT, PointTargetT, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a2acb12f764535f36b7dd3228813d9d39">   70</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a2acb12f764535f36b7dd3228813d9d39">WarpPointRigid</a> (<span class="keywordtype">int</span> nr_dim)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          : nr_dim_ (nr_dim)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          , transform_matrix_ (Matrix4::Zero ())</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          transform_matrix_ (3, 3) = 1.0;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        };</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#abdfcb73949d5cb8305869d6ed9e956e9">   78</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#abdfcb73949d5cb8305869d6ed9e956e9">~WarpPointRigid</a> () {};</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a9c4df15fd8ac62c85aeb09b6f3447aa2">   84</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a9c4df15fd8ac62c85aeb09b6f3447aa2">setParam</a> (<span class="keyword">const</span> VectorX&amp; p) = 0;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a50e68fdd96d7202511f28f766ebec3e6">   91</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a50e68fdd96d7202511f28f766ebec3e6">warpPoint</a> (<span class="keyword">const</span> PointSourceT&amp; pnt_in, PointSourceT&amp; pnt_out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          pnt_out.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform_matrix_ (0, 0) * pnt_in.x + transform_matrix_ (0, 1) * pnt_in.y + transform_matrix_ (0, 2) * pnt_in.z + transform_matrix_ (0, 3));</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          pnt_out.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform_matrix_ (1, 0) * pnt_in.x + transform_matrix_ (1, 1) * pnt_in.y + transform_matrix_ (1, 2) * pnt_in.z + transform_matrix_ (1, 3));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          pnt_out.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (transform_matrix_ (2, 0) * pnt_in.x + transform_matrix_ (2, 1) * pnt_in.y + transform_matrix_ (2, 2) * pnt_in.z + transform_matrix_ (2, 3));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="comment">//pnt_out.getVector3fMap () = transform_matrix_.topLeftCorner (3, 3) * </span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <span class="comment">//                            pnt_in.getVector3fMap () + </span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          <span class="comment">//                            transform_matrix_.block (0, 3, 3, 1);</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          <span class="comment">//pnt_out.data[3] = pnt_in.data[3];</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a03b663ed2044908458f6db4c5377a5f0">  107</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a03b663ed2044908458f6db4c5377a5f0">warpPoint</a> (<span class="keyword">const</span> PointSourceT&amp; pnt_in, Vector4&amp; pnt_out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          pnt_out[0] = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (transform_matrix_ (0, 0) * pnt_in.x + transform_matrix_ (0, 1) * pnt_in.y + transform_matrix_ (0, 2) * pnt_in.z + transform_matrix_ (0, 3));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          pnt_out[1] = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (transform_matrix_ (1, 0) * pnt_in.x + transform_matrix_ (1, 1) * pnt_in.y + transform_matrix_ (1, 2) * pnt_in.z + transform_matrix_ (1, 3));</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          pnt_out[2] = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (transform_matrix_ (2, 0) * pnt_in.x + transform_matrix_ (2, 1) * pnt_in.y + transform_matrix_ (2, 2) * pnt_in.z + transform_matrix_ (2, 3));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          pnt_out[3] = 0.0;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#af1980f36f8c7143d617c9b9693ae6f95">  117</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#af1980f36f8c7143d617c9b9693ae6f95">getDimension</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (nr_dim_); }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> Matrix4&amp; </div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_warp_point_rigid.html#ab9fc5ebfb7533a0b965308f1d53727c4">  121</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_warp_point_rigid.html#ab9fc5ebfb7533a0b965308f1d53727c4">getTransform</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (transform_matrix_); }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">int</span> nr_dim_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        Matrix4 transform_matrix_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    };</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  } <span class="comment">// namespace registration</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a></div><div class="ttdoc">Base warp point class.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_a03b663ed2044908458f6db4c5377a5f0"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a03b663ed2044908458f6db4c5377a5f0">pcl::registration::WarpPointRigid::warpPoint</a></div><div class="ttdeci">void warpPoint(const PointSourceT &amp;pnt_in, Vector4 &amp;pnt_out) const</div><div class="ttdoc">Warp a point given a transformation matrix</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_a2acb12f764535f36b7dd3228813d9d39"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a2acb12f764535f36b7dd3228813d9d39">pcl::registration::WarpPointRigid::WarpPointRigid</a></div><div class="ttdeci">WarpPointRigid(int nr_dim)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_a50e68fdd96d7202511f28f766ebec3e6"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a50e68fdd96d7202511f28f766ebec3e6">pcl::registration::WarpPointRigid::warpPoint</a></div><div class="ttdeci">void warpPoint(const PointSourceT &amp;pnt_in, PointSourceT &amp;pnt_out) const</div><div class="ttdoc">Warp a point given a transformation matrix</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_a9c4df15fd8ac62c85aeb09b6f3447aa2"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a9c4df15fd8ac62c85aeb09b6f3447aa2">pcl::registration::WarpPointRigid::setParam</a></div><div class="ttdeci">virtual void setParam(const VectorX &amp;p)=0</div><div class="ttdoc">Set warp parameters. Pure virtual.</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_ab9fc5ebfb7533a0b965308f1d53727c4"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#ab9fc5ebfb7533a0b965308f1d53727c4">pcl::registration::WarpPointRigid::getTransform</a></div><div class="ttdeci">const Matrix4 &amp; getTransform() const</div><div class="ttdoc">Get the Transform used.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_abdfcb73949d5cb8305869d6ed9e956e9"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#abdfcb73949d5cb8305869d6ed9e956e9">pcl::registration::WarpPointRigid::~WarpPointRigid</a></div><div class="ttdeci">virtual ~WarpPointRigid()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_warp_point_rigid_html_af1980f36f8c7143d617c9b9693ae6f95"><div class="ttname"><a href="classpcl_1_1registration_1_1_warp_point_rigid.html#af1980f36f8c7143d617c9b9693ae6f95">pcl::registration::WarpPointRigid::getDimension</a></div><div class="ttdeci">int getDimension() const</div><div class="ttdoc">Get the number of dimensions.</div><div class="ttdef"><b>Definition:</b> warp_point_rigid.h:117</div></div>
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